Package frc.robot.commands

Class RotateToSpeakerAndDriveCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.RotateToSpeakerAndDriveCommand

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

public class RotateToSpeakerAndDriveCommand
extends edu.wpi.first.wpilibj2.command.Command

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
RotateToSpeakerAndDriveCommand(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, DoubleSupplier radians)	Rotates the robot to face the speaker, while still allowing the driver to control forward and backward movement

Method Summary

Modifier and Type	Method	Description
void	execute()

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

RotateToSpeakerAndDriveCommand

public RotateToSpeakerAndDriveCommand(SwerveSubsystem swerveSubsystem,
 DoubleSupplier forward,
 DoubleSupplier sideways,
 DoubleSupplier radians)

Rotates the robot to face the speaker, while still allowing the driver to control forward and backward movement

Parameters:

swerveSubsystem - The instance of SwerveSubsystem

forward - The desired forward percentage of the robot

sideways - The desired sideways percentage of the robot

radians - The desired rotation speed of the robot

Method Details

execute

public void execute()

Overrides:

execute in class edu.wpi.first.wpilibj2.command.Command